cmake_minimum_required(VERSION 3.8)
project(robot_driver)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
find_package(rclcpp REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(nlohmann_json REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(PkgConfig REQUIRED)
pkg_check_modules(LIBRARY_NAME REQUIRED ncurses)

add_executable(driver_node src/driver_node.cpp src/robot_driver.cpp)
target_include_directories(driver_node PUBLIC include)
ament_target_dependencies(driver_node rclcpp geometry_msgs nlohmann_json nav_msgs tf2_ros tf2 tf2_geometry_msgs)

add_executable(kbinput_node src/kb_input.cpp)
target_include_directories(kbinput_node PUBLIC ${LIBRARY_NAME_INCLUDE_DIRS})
target_link_directories(kbinput_node PUBLIC ${LIBRARY_NAME_LIBRARY_DIRS})
ament_target_dependencies(kbinput_node rclcpp geometry_msgs)
target_link_libraries(kbinput_node ${LIBRARY_NAME_LIBRARIES})

add_executable(joyinput_node src/joy_input.cpp)
target_include_directories(joyinput_node PUBLIC include)
ament_target_dependencies(joyinput_node rclcpp sensor_msgs geometry_msgs)

add_executable(odom_node src/odom_node.cpp)
target_include_directories(odom_node PUBLIC include)
ament_target_dependencies(odom_node rclcpp geometry_msgs nlohmann_json nav_msgs tf2_ros tf2 tf2_geometry_msgs)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

install(
  TARGETS driver_node kbinput_node joyinput_node odom_node
  DESTINATION lib/${PROJECT_NAME}
)

install(
  DIRECTORY launch
  DESTINATION share/${PROJECT_NAME}
)

ament_package()
